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<div class="title">grabcut_segmentation.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_IMPL_GRABCUT_HPP</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_IMPL_GRABCUT_HPP</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/search/organized.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/search/kdtree.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2distances_8h.html">pcl/common/distances.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1segmentation_1_1grabcut_1_1_color.html">pcl::segmentation::grabcut::Color</a> &amp;c1,</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="structpcl_1_1segmentation_1_1grabcut_1_1_color.html">pcl::segmentation::grabcut::Color</a> &amp;c2)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordflow">return</span> ((c1.r-c2.r)*(c1.r-c2.r)+(c1.g-c2.g)*(c1.g-c2.g)+(c1.b-c2.b)*(c1.b-c2.b));</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  }</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;}</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;pcl::segmentation::grabcut::Color::Color (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  r = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p.r) / 255.0;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  g = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p.g) / 255.0;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  b = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p.b) / 255.0;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;pcl::segmentation::grabcut::Color::operator <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  p.r = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (r * 255);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  p.g = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (g * 255);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  p.b = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (b * 255);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordflow">return</span> (p);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a1660eb464bfd7944de8661f4f7e90ecb">   74</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a1660eb464bfd7944de8661f4f7e90ecb">pcl::GrabCut&lt;PointT&gt;::setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;{</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  input_ = cloud;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;}</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html">pcl::GrabCut&lt;PointT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;{</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keyword">using namespace </span>pcl::segmentation::grabcut;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt;PointT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::GrabCut::initCompute ()] Init failed!&quot;</span>);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; in_fields_;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordflow">if</span> ((pcl::getFieldIndex&lt;PointT&gt; (*input_, <span class="stringliteral">&quot;rgb&quot;</span>, in_fields_) == -1) &amp;&amp;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      (pcl::getFieldIndex&lt;PointT&gt; (*input_, <span class="stringliteral">&quot;rgba&quot;</span>, in_fields_) == -1))</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::GrabCut::initCompute ()] No RGB data available, aborting!&quot;</span>);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="comment">// Initialize the working image</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  image_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">Image</a> (input_-&gt;width, input_-&gt;height));</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordflow">for</span> (std::size_t i = 0; i &lt; input_-&gt;size (); ++i)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    (*image_) [i] = <a class="code" href="local_types_8h.html#ab87bacfdad76e61b9412d7124be44c1c">Color</a> (input_-&gt;points[i]);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  width_ = image_-&gt;width;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  height_ = image_-&gt;height;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="comment">// Initialize the spatial locator</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">if</span> (!tree_ &amp;&amp; !input_-&gt;isOrganized ())</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    tree_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointT&gt;</a> (<span class="keyword">true</span>));</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    tree_-&gt;setInputCloud (input_);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keyword">const</span> std::size_t indices_size = indices_-&gt;size ();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  trimap_ = std::vector&lt;segmentation::grabcut::TrimapValue&gt; (indices_size, TrimapUnknown);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  hard_segmentation_ = std::vector&lt;segmentation::grabcut::SegmentationValue&gt; (indices_size,</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                                                                              SegmentationBackground);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  GMM_component_.resize (indices_size);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  n_links_.resize (indices_size);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="comment">//  soft_segmentation_ = 0;       // Not yet implemented</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  foreground_GMM_.resize (K_);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  background_GMM_.resize (K_);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="comment">//set some constants</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  computeL ();</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">if</span> (image_-&gt;isOrganized ())</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    computeBetaOrganized ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    computeNLinksOrganized ();</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    computeBetaNonOrganized ();</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    computeNLinksNonOrganized ();</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  initialized_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;}</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a075dc111ee224e7fe0bb4b39c1a49606">  143</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a075dc111ee224e7fe0bb4b39c1a49606">pcl::GrabCut&lt;PointT&gt;::addEdge</a> (vertex_descriptor v1, vertex_descriptor v2, <span class="keywordtype">float</span> capacity, <span class="keywordtype">float</span> rev_capacity)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  graph_.addEdge (v1, v2, capacity, rev_capacity);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;}</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a8991a8e3e62e810cc810b4e8e1cd5d26">  149</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a8991a8e3e62e810cc810b4e8e1cd5d26">pcl::GrabCut&lt;PointT&gt;::setTerminalWeights</a> (vertex_descriptor v, <span class="keywordtype">float</span> source_capacity, <span class="keywordtype">float</span> sink_capacity)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;{</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  graph_.addSourceEdge (v, source_capacity);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  graph_.addTargetEdge (v, sink_capacity);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;}</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#adc1937d9675b20ac08871bb84aff514b">  156</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#aa1d9e818041091e3e60377b72c0f3cfe">pcl::GrabCut&lt;PointT&gt;::setBackgroundPointsIndices</a> (<span class="keyword">const</span> PointIndicesConstPtr &amp;indices)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;{</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keyword">using namespace </span>pcl::segmentation::grabcut;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keywordflow">if</span> (!initCompute ())</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  std::fill (trimap_.begin (), trimap_.end (), TrimapBackground);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  std::fill (hard_segmentation_.begin (), hard_segmentation_.end (), SegmentationBackground);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator idx = indices-&gt;indices.begin (); idx != indices-&gt;indices.end (); ++idx)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    trimap_[*idx] = TrimapUnknown;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    hard_segmentation_[*idx] = SegmentationForeground;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordflow">if</span> (!initialized_)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    fitGMMs ();</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    initialized_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;}</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a0ebb51759f4e9a2c8608e817eb38bf79">  178</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a0ebb51759f4e9a2c8608e817eb38bf79">pcl::GrabCut&lt;PointT&gt;::fitGMMs</a> ()</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;{</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="comment">// Step 3: Build GMMs using Orchard-Bouman clustering algorithm</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  buildGMMs (*image_, *indices_, hard_segmentation_, GMM_component_, background_GMM_, foreground_GMM_);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="comment">// Initialize the graph for graphcut (do this here so that the T-Link debugging image will be initialized)</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  initGraph ();</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;}</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a94cd3a0257244c06f4aa6d6d3d7bf8b5">  188</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a94cd3a0257244c06f4aa6d6d3d7bf8b5">pcl::GrabCut&lt;PointT&gt;::refineOnce</a> ()</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;{</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="comment">// Steps 4 and 5: Learn new GMMs from current segmentation</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  learnGMMs (*image_, *indices_, hard_segmentation_, GMM_component_, background_GMM_, foreground_GMM_);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="comment">// Step 6: Run GraphCut and update segmentation</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  initGraph ();</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keywordtype">float</span> flow = graph_.solve ();</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="keywordtype">int</span> changed = updateHardSegmentation ();</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  PCL_INFO (<span class="stringliteral">&quot;%d pixels changed segmentation (max flow = %f)\n&quot;</span>, changed, flow);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordflow">return</span> (changed);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;}</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a2ab12ae233f94275e090b33bb87e7d8b">  205</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a2ab12ae233f94275e090b33bb87e7d8b">pcl::GrabCut&lt;PointT&gt;::refine</a> ()</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;{</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  std::size_t changed = indices_-&gt;size ();</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="keywordflow">while</span> (changed)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    changed = refineOnce ();</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;}</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html">pcl::GrabCut&lt;PointT&gt;::updateHardSegmentation</a> ()</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;{</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keyword">using namespace </span>pcl::segmentation::grabcut;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="keywordtype">int</span> changed = 0;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> number_of_indices = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_indices; ++i_point)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    SegmentationValue old_value = hard_segmentation_ [i_point];</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordflow">if</span> (trimap_ [i_point] == TrimapBackground)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      hard_segmentation_ [i_point] = SegmentationBackground;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keywordflow">if</span> (trimap_ [i_point] == TrimapForeground)</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        hard_segmentation_ [i_point] = SegmentationForeground;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keywordflow">else</span>  <span class="comment">// TrimapUnknown</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="keywordflow">if</span> (isSource (graph_nodes_[i_point]))</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;          hard_segmentation_ [i_point] = SegmentationForeground;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;          hard_segmentation_ [i_point] = SegmentationBackground;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keywordflow">if</span> (old_value != hard_segmentation_ [i_point])</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      ++changed;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  }</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordflow">return</span> (changed);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;}</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a2b5f5d6c6eba664c8b9802d232a1222e">  245</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a2b5f5d6c6eba664c8b9802d232a1222e">pcl::GrabCut&lt;PointT&gt;::setTrimap</a> (<span class="keyword">const</span> PointIndicesConstPtr &amp;indices, segmentation::grabcut::TrimapValue t)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;{</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keyword">using namespace </span>pcl::segmentation::grabcut;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  std::vector&lt;int&gt;::const_iterator idx = indices-&gt;indices.begin ();</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="keywordflow">for</span> (; idx != indices-&gt;indices.end (); ++idx)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    trimap_[*idx] = t;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="comment">// Immediately set the hard segmentation as well so that the display will update.</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keywordflow">if</span> (t == TrimapForeground)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="keywordflow">for</span> (idx = indices-&gt;indices.begin (); idx != indices-&gt;indices.end (); ++idx)</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      hard_segmentation_[*idx] = SegmentationForeground;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keywordflow">if</span> (t == TrimapBackground)</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <span class="keywordflow">for</span> (idx = indices-&gt;indices.begin (); idx != indices-&gt;indices.end (); ++idx)</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        hard_segmentation_[*idx] = SegmentationBackground;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;}</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a54c938fdaefedff69430c7cd090c7337">  263</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a54c938fdaefedff69430c7cd090c7337">pcl::GrabCut&lt;PointT&gt;::initGraph</a> ()</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;{</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keyword">using namespace </span>pcl::segmentation::grabcut;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> number_of_indices = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <span class="comment">// Set up the graph (it can only be used once, so we have to recreate it each time the graph is updated)</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  graph_.clear ();</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  graph_nodes_.clear ();</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  graph_nodes_.resize (indices_-&gt;size ());</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordtype">int</span> start = graph_.addNodes (indices_-&gt;size ());</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  {</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    graph_nodes_[idx] = start;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    ++start;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  }</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="comment">// Set T-Link weights</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_indices; ++i_point)</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  {</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <span class="keywordtype">int</span> point_index = (*indices_) [i_point];</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="keywordtype">float</span> back, fore;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keywordflow">switch</span> (trimap_[point_index])</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      <span class="keywordflow">case</span> TrimapUnknown :</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      {</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        fore = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (-log (background_GMM_.probabilityDensity (image_-&gt;points[point_index])));</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        back = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (-log (foreground_GMM_.probabilityDensity (image_-&gt;points[point_index])));</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      }</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      <span class="keywordflow">case</span> TrimapBackground :</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      {</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        fore = 0;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        back = L_;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      default :</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      {</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        fore = L_;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        back = 0;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      }</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    }</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    setTerminalWeights (graph_nodes_[i_point], fore, back);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <span class="comment">// Set N-Link weights from precomputed values</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_indices; ++i_point)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  {</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_grab_cut_1_1_n_links.html">NLinks</a> &amp;n_link = n_links_[i_point];</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="keywordflow">if</span> (n_link.nb_links &gt; 0)</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    {</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      <span class="keywordtype">int</span> point_index = (*indices_) [i_point];</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      std::vector&lt;int&gt;::const_iterator indices_it    = n_link.indices.begin ();</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      std::vector&lt;float&gt;::const_iterator weights_it  = n_link.weights.begin ();</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keywordflow">for</span> (; indices_it != n_link.indices.end (); ++indices_it, ++weights_it)</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      {</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        <span class="keywordflow">if</span> ((*indices_it != point_index) &amp;&amp; (*indices_it &gt; -1))</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        {</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;          addEdge (graph_nodes_[i_point], graph_nodes_[*indices_it], *weights_it, *weights_it);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        }</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      }</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  }</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;}</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00329"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a1e4e93f4798b0b4b5d22ebeb8802c482">  329</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a1e4e93f4798b0b4b5d22ebeb8802c482">pcl::GrabCut&lt;PointT&gt;::computeNLinksNonOrganized</a> ()</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;{</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> number_of_indices = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_indices; ++i_point)</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  {</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <a class="code" href="structpcl_1_1_grab_cut_1_1_n_links.html">NLinks</a> &amp;n_link = n_links_[i_point];</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    <span class="keywordflow">if</span> (n_link.nb_links &gt; 0)</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    {</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      <span class="keywordtype">int</span> point_index = (*indices_) [i_point];</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      std::vector&lt;int&gt;::const_iterator indices_it = n_link.indices.begin ();</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      std::vector&lt;float&gt;::const_iterator dists_it = n_link.dists.begin   ();</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      std::vector&lt;float&gt;::iterator weights_it     = n_link.weights.begin ();</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      <span class="keywordflow">for</span> (; indices_it != n_link.indices.end (); ++indices_it, ++dists_it, ++weights_it)</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      {</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        <span class="keywordflow">if</span> (*indices_it != point_index)</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        {</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;          <span class="comment">// We saved the color distance previously at the computeBeta stage for optimization purpose</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;          <span class="keywordtype">float</span> color_distance = *weights_it;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;          <span class="comment">// Set the real weight</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;          *weights_it = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (lambda_ * exp (-beta_ * color_distance) / sqrt (*dists_it));</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        }</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      }</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    }</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  }</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;}</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00356"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a73356d3827973778f897f318dba2f21a">  356</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a73356d3827973778f897f318dba2f21a">pcl::GrabCut&lt;PointT&gt;::computeNLinksOrganized</a> ()</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;{</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    <span class="keywordflow">for</span>( <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> y = 0; y &lt; image_-&gt;height; ++y )</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    {</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    <span class="keywordflow">for</span>( <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> x = 0; x &lt; image_-&gt;width; ++x )</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    {</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      <span class="comment">// We saved the color and euclidean distance previously at the computeBeta stage for</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      <span class="comment">// optimization purpose but here we compute the real weight</span></div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      std::size_t point_index = y * input_-&gt;width + x;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      <a class="code" href="structpcl_1_1_grab_cut_1_1_n_links.html">NLinks</a> &amp;links = n_links_[point_index];</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="keywordflow">if</span>( x &gt; 0 &amp;&amp; y &lt; image_-&gt;height-1 )</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        links.weights[0] = lambda_ * exp (-beta_ * links.weights[0]) / links.dists[0];</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      <span class="keywordflow">if</span>( y &lt; image_-&gt;height-1 )</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        links.weights[1] = lambda_ * exp (-beta_ * links.weights[1]) / links.dists[1];</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      <span class="keywordflow">if</span>( x &lt; image_-&gt;width-1 &amp;&amp; y &lt; image_-&gt;height-1 )</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        links.weights[2] = lambda_ * exp (-beta_ * links.weights[2]) / links.dists[2];</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      <span class="keywordflow">if</span>( x &lt; image_-&gt;width-1 )</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        links.weights[3] = lambda_ * exp (-beta_ * links.weights[3]) / links.dists[3];</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    }</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    }</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;}</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00383"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#ab8dd0bbf952b886ff73c36057603e1fa">  383</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#ab8dd0bbf952b886ff73c36057603e1fa">pcl::GrabCut&lt;PointT&gt;::computeBetaNonOrganized</a> ()</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;{</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="keywordtype">float</span> result = 0;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  std::size_t edges = 0;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> number_of_indices = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_indices; i_point++)</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  {</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    <span class="keywordtype">int</span> point_index = (*indices_)[i_point];</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = input_-&gt;points [point_index];</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    <span class="keywordflow">if</span> (pcl::isFinite (point))</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    {</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      <a class="code" href="structpcl_1_1_grab_cut_1_1_n_links.html">NLinks</a> &amp;links = n_links_[i_point];</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      <span class="keywordtype">int</span> found = tree_-&gt;nearestKSearch (point, nb_neighbours_, links.indices, links.dists);</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <span class="keywordflow">if</span> (found &gt; 1)</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      {</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;        links.nb_links = found - 1;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        links.weights.reserve (links.nb_links);</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator nn_it = links.indices.begin (); nn_it != links.indices.end (); ++nn_it)</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        {</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;          <span class="keywordflow">if</span> (*nn_it != point_index)</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;          {</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;            <span class="keywordtype">float</span> color_distance = <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (image_-&gt;points[point_index], image_-&gt;points[*nn_it]);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;            links.weights.push_back (color_distance);</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;            result+= color_distance;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;            ++edges;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;          }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;            links.weights.push_back (0.f);</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;        }</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      }</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    }</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  }</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  beta_ = 1e5 / (2*result / edges);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;}</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00422"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a5e902baa6e465887328fe56a4079a502">  422</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a5e902baa6e465887328fe56a4079a502">pcl::GrabCut&lt;PointT&gt;::computeBetaOrganized</a> ()</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;{</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  <span class="keywordtype">float</span> result = 0;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  std::size_t edges = 0;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> y = 0; y &lt; input_-&gt;height; ++y)</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  {</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> x = 0; x &lt; input_-&gt;width; ++x)</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    {</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      std::size_t point_index = y * input_-&gt;width + x;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      <a class="code" href="structpcl_1_1_grab_cut_1_1_n_links.html">NLinks</a> &amp;links = n_links_[point_index];</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      links.nb_links = 4;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;      links.weights.resize (links.nb_links, 0);</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      links.dists.resize (links.nb_links, 0);</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;      links.indices.resize (links.nb_links, -1);</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;      <span class="keywordflow">if</span> (x &gt; 0 &amp;&amp; y &lt; input_-&gt;height-1)</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      {</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;        std::size_t upleft = (y+1)  * input_-&gt;width + x - 1;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;        links.indices[0] = upleft;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;        links.dists[0] = sqrt (2.f);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;        <span class="keywordtype">float</span> color_dist =  <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (image_-&gt;points[point_index],</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;                                                      image_-&gt;points[upleft]);</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        links.weights[0] = color_dist;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        result+= color_dist;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        edges++;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      <span class="keywordflow">if</span> (y &lt; input_-&gt;height-1)</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      {</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        std::size_t up = (y+1) * input_-&gt;width + x;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        links.indices[1] = up;</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        links.dists[1] = 1;</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        <span class="keywordtype">float</span> color_dist =  <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (image_-&gt;points[point_index],</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;                                                      image_-&gt;points[up]);</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        links.weights[1] = color_dist;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;        result+= color_dist;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        edges++;</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      }</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;      <span class="keywordflow">if</span> (x &lt; input_-&gt;width-1 &amp;&amp; y &lt; input_-&gt;height-1)</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;      {</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        std::size_t upright = (y+1) * input_-&gt;width + x + 1;</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        links.indices[2] = upright;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;        links.dists[2] = sqrt (2.f);</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;        <span class="keywordtype">float</span> color_dist =  <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (image_-&gt;points[point_index],</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;                                                      image_-&gt;points [upright]);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        links.weights[2] = color_dist;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        result+= color_dist;</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;        edges++;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;      }</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160; </div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;      <span class="keywordflow">if</span> (x &lt; input_-&gt;width-1)</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;      {</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;        std::size_t right = y * input_-&gt;width + x + 1;</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        links.indices[3] = right;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;        links.dists[3] = 1;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;        <span class="keywordtype">float</span> color_dist =  <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (image_-&gt;points[point_index],</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;                                                      image_-&gt;points[right]);</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;        links.weights[3] = color_dist;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        result+= color_dist;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;        edges++;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;      }</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    }</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  }</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;  beta_ = 1e5 / (2*result / edges);</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;}</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00492"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a0143bf186604b4e6306a408c7c4eab78">  492</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a0143bf186604b4e6306a408c7c4eab78">pcl::GrabCut&lt;PointT&gt;::computeL</a> ()</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;{</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  L_ = 8*lambda_ + 1;</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;}</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00498"></a><span class="lineno"><a class="line" href="classpcl_1_1_grab_cut.html#a540af5196a39ae6b10d2caa3b3856bbe">  498</a></span>&#160;<a class="code" href="classpcl_1_1_grab_cut.html#a540af5196a39ae6b10d2caa3b3856bbe">pcl::GrabCut&lt;PointT&gt;::extract</a> (std::vector&lt;pcl::PointIndices&gt;&amp; clusters)</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;{</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  <span class="keyword">using namespace </span>pcl::segmentation::grabcut;</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  clusters.clear ();</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  clusters.resize (2);</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;  clusters[0].indices.reserve (indices_-&gt;size ());</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;  clusters[1].indices.reserve (indices_-&gt;size ());</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;  refine ();</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;  assert (hard_segmentation_.size () == indices_-&gt;size ());</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> indices_size = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; indices_size; ++i)</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;    <span class="keywordflow">if</span> (hard_segmentation_[i] == SegmentationForeground)</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      clusters[1].indices.push_back (i);</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;      clusters[0].indices.push_back (i);</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;}</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html"><div class="ttname"><a href="classpcl_1_1_grab_cut.html">pcl::GrabCut</a></div><div class="ttdoc">Implementation of the GrabCut segmentation in &quot;GrabCut — Interactive Foreground Extraction using Iter...</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.h:318</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a0143bf186604b4e6306a408c7c4eab78"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a0143bf186604b4e6306a408c7c4eab78">pcl::GrabCut::computeL</a></div><div class="ttdeci">void computeL()</div><div class="ttdoc">Compute L parameter from given lambda</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:492</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a075dc111ee224e7fe0bb4b39c1a49606"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a075dc111ee224e7fe0bb4b39c1a49606">pcl::GrabCut::addEdge</a></div><div class="ttdeci">void addEdge(vertex_descriptor v1, vertex_descriptor v2, float capacity, float rev_capacity)</div><div class="ttdoc">Add an edge to the graph, graph must be oriented so we add the edge and its reverse</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:143</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a0ebb51759f4e9a2c8608e817eb38bf79"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a0ebb51759f4e9a2c8608e817eb38bf79">pcl::GrabCut::fitGMMs</a></div><div class="ttdeci">virtual void fitGMMs()</div><div class="ttdoc">Fit Gaussian Multi Models</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:178</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a1660eb464bfd7944de8661f4f7e90ecb"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a1660eb464bfd7944de8661f4f7e90ecb">pcl::GrabCut::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:74</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a1e4e93f4798b0b4b5d22ebeb8802c482"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a1e4e93f4798b0b4b5d22ebeb8802c482">pcl::GrabCut::computeNLinksNonOrganized</a></div><div class="ttdeci">void computeNLinksNonOrganized()</div><div class="ttdoc">Compute NLinks from cloud</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:329</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a2ab12ae233f94275e090b33bb87e7d8b"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a2ab12ae233f94275e090b33bb87e7d8b">pcl::GrabCut::refine</a></div><div class="ttdeci">virtual void refine()</div><div class="ttdoc">Run Grabcut refinement on the hard segmentation</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:205</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a2b5f5d6c6eba664c8b9802d232a1222e"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a2b5f5d6c6eba664c8b9802d232a1222e">pcl::GrabCut::setTrimap</a></div><div class="ttdeci">void setTrimap(const PointIndicesConstPtr &amp;indices, segmentation::grabcut::TrimapValue t)</div><div class="ttdoc">Edit Trimap</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:245</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a540af5196a39ae6b10d2caa3b3856bbe"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a540af5196a39ae6b10d2caa3b3856bbe">pcl::GrabCut::extract</a></div><div class="ttdeci">void extract(std::vector&lt; pcl::PointIndices &gt; &amp;clusters)</div><div class="ttdoc">This method launches the segmentation algorithm and returns the clusters that were obtained during th...</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:498</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a54c938fdaefedff69430c7cd090c7337"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a54c938fdaefedff69430c7cd090c7337">pcl::GrabCut::initGraph</a></div><div class="ttdeci">void initGraph()</div><div class="ttdoc">Build the graph for GraphCut</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:263</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a5e902baa6e465887328fe56a4079a502"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a5e902baa6e465887328fe56a4079a502">pcl::GrabCut::computeBetaOrganized</a></div><div class="ttdeci">void computeBetaOrganized()</div><div class="ttdoc">Compute beta from image</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:422</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a73356d3827973778f897f318dba2f21a"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a73356d3827973778f897f318dba2f21a">pcl::GrabCut::computeNLinksOrganized</a></div><div class="ttdeci">void computeNLinksOrganized()</div><div class="ttdoc">Compute NLinks from image</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:356</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a8991a8e3e62e810cc810b4e8e1cd5d26"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a8991a8e3e62e810cc810b4e8e1cd5d26">pcl::GrabCut::setTerminalWeights</a></div><div class="ttdeci">void setTerminalWeights(vertex_descriptor v, float source_capacity, float sink_capacity)</div><div class="ttdoc">Set the weights of SOURCE --&gt; v and v --&gt; SINK</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:149</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_a94cd3a0257244c06f4aa6d6d3d7bf8b5"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#a94cd3a0257244c06f4aa6d6d3d7bf8b5">pcl::GrabCut::refineOnce</a></div><div class="ttdeci">virtual int refineOnce()</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:188</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_aa1d9e818041091e3e60377b72c0f3cfe"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#aa1d9e818041091e3e60377b72c0f3cfe">pcl::GrabCut::setBackgroundPointsIndices</a></div><div class="ttdeci">void setBackgroundPointsIndices(int x1, int y1, int x2, int y2)</div><div class="ttdoc">Set background indices, foreground indices = indices \ background indices</div></div>
<div class="ttc" id="aclasspcl_1_1_grab_cut_html_ab8dd0bbf952b886ff73c36057603e1fa"><div class="ttname"><a href="classpcl_1_1_grab_cut.html#ab8dd0bbf952b886ff73c36057603e1fa">pcl::GrabCut::computeBetaNonOrganized</a></div><div class="ttdeci">void computeBetaNonOrganized()</div><div class="ttdoc">Compute beta from cloud</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.hpp:383</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html">distances.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html_a28ecc173df18d9175dee9f4dd042390b"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">pcl::squaredEuclideanDistance</a></div><div class="ttdeci">float squaredEuclideanDistance(const PointType1 &amp;p1, const PointType2 &amp;p2)</div><div class="ttdoc">Calculate the squared euclidean distance between the two given points.</div><div class="ttdef"><b>Definition:</b> distances.h:174</div></div>
<div class="ttc" id="alocal_types_8h_html_ab87bacfdad76e61b9412d7124be44c1c"><div class="ttname"><a href="local_types_8h.html#ab87bacfdad76e61b9412d7124be44c1c">Color</a></div><div class="ttdeci">Color</div><div class="ttdoc">Indices for color components</div><div class="ttdef"><b>Definition:</b> localTypes.h:137</div></div>
<div class="ttc" id="astructpcl_1_1_grab_cut_1_1_n_links_html"><div class="ttname"><a href="structpcl_1_1_grab_cut_1_1_n_links.html">pcl::GrabCut::NLinks</a></div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.h:398</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1segmentation_1_1grabcut_1_1_color_html"><div class="ttname"><a href="structpcl_1_1segmentation_1_1grabcut_1_1_color.html">pcl::segmentation::grabcut::Color</a></div><div class="ttdoc">Structure to save RGB colors into floats</div><div class="ttdef"><b>Definition:</b> grabcut_segmentation.h:174</div></div>
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